diff --git a/include/core/frame/frame_base.h b/include/core/frame/frame_base.h
index a9d1d0e26c2a1798f425026327b94f513ca14431..731bf8db56b1023a2d5400f3375cdd654f0bc282 100644
--- a/include/core/frame/frame_base.h
+++ b/include/core/frame/frame_base.h
@@ -125,7 +125,7 @@ class FrameBase : public NodeBase, public HasStateBlocks, public std::enable_sha
bool isConstrainedBy(const FactorBasePtr& _factor) const;
void link(TrajectoryBasePtr);
template<typename classType, typename... T>
- static std::shared_ptr<classType> emplaceKeyFrame(TrajectoryBasePtr _ptr, T&&... all);
+ static std::shared_ptr<classType> emplaceFrame(TrajectoryBasePtr _ptr, T&&... all);
template<typename classType, typename... T>
static std::shared_ptr<classType> createNonKeyFrame(T&&... all);
@@ -168,7 +168,7 @@ class FrameBase : public NodeBase, public HasStateBlocks, public std::enable_sha
namespace wolf {
template<typename classType, typename... T>
-std::shared_ptr<classType> FrameBase::emplaceKeyFrame(TrajectoryBasePtr _ptr, T&&... all)
+std::shared_ptr<classType> FrameBase::emplaceFrame(TrajectoryBasePtr _ptr, T&&... all)
{
std::shared_ptr<classType> frm = std::make_shared<classType>(std::forward<T>(all)...);
frm->link(_ptr);
diff --git a/include/core/problem/problem.h b/include/core/problem/problem.h
index 9b86ec2fba3aace36b794f214129b508efabf0c7..44e2fe69ed430b624e3df31dfa730341b496fe90 100644
--- a/include/core/problem/problem.h
+++ b/include/core/problem/problem.h
@@ -217,7 +217,7 @@ class Problem : public std::enable_shared_from_this<Problem>
* - Add it to Trajectory
* - If it is key-frame, update state-block lists in Problem
*/
- FrameBasePtr emplaceKeyFrame(const TimeStamp& _time_stamp, //
+ FrameBasePtr emplaceFrame(const TimeStamp& _time_stamp, //
const StateStructure& _frame_structure, //
const SizeEigen _dim, //
const Eigen::VectorXd& _frame_state);
@@ -235,7 +235,7 @@ class Problem : public std::enable_shared_from_this<Problem>
* - Add it to Trajectory
* - If it is key-frame, update state-block lists in Problem
*/
- FrameBasePtr emplaceKeyFrame(const TimeStamp& _time_stamp, //
+ FrameBasePtr emplaceFrame(const TimeStamp& _time_stamp, //
const StateStructure& _frame_structure, //
const VectorComposite& _frame_state);
@@ -252,7 +252,7 @@ class Problem : public std::enable_shared_from_this<Problem>
* - Add it to Trajectory
* - If it is key-frame, update state-block lists in Problem
*/
- FrameBasePtr emplaceKeyFrame(const TimeStamp& _time_stamp, //
+ FrameBasePtr emplaceFrame(const TimeStamp& _time_stamp, //
const VectorComposite& _frame_state);
/** \brief Emplace frame from string frame_structure and dimension
@@ -269,7 +269,7 @@ class Problem : public std::enable_shared_from_this<Problem>
* - Add it to Trajectory
* - If it is key-frame, update state-block lists in Problem
*/
- FrameBasePtr emplaceKeyFrame(const TimeStamp& _time_stamp, //
+ FrameBasePtr emplaceFrame(const TimeStamp& _time_stamp, //
const StateStructure& _frame_structure, //
const SizeEigen _dim);
@@ -286,7 +286,7 @@ class Problem : public std::enable_shared_from_this<Problem>
* - Add it to Trajectory
* - If it is key-frame, update state-block lists in Problem
*/
- FrameBasePtr emplaceKeyFrame(const TimeStamp& _time_stamp, //
+ FrameBasePtr emplaceFrame(const TimeStamp& _time_stamp, //
const Eigen::VectorXd& _frame_state);
/** \brief Emplace frame, guess all values
@@ -302,11 +302,10 @@ class Problem : public std::enable_shared_from_this<Problem>
* - Add it to Trajectory
* - If it is key-frame, update state-block lists in Problem
*/
- FrameBasePtr emplaceKeyFrame(const TimeStamp& _time_stamp);
+ FrameBasePtr emplaceFrame(const TimeStamp& _time_stamp);
// Frame getters
FrameBasePtr getLastFrame( ) const;
- FrameBasePtr getLastKeyOrAuxFrame( ) const;
FrameBasePtr closestFrameToTimeStamp(const TimeStamp& _ts) const;
/** \brief Give the permission to a processor to create a new key Frame
@@ -325,22 +324,6 @@ class Problem : public std::enable_shared_from_this<Problem>
ProcessorBasePtr _processor_ptr, //
const double& _time_tolerance);
- /** \brief Give the permission to a processor to create a new auxiliary Frame
- *
- * This should implement a black list of processors that have forbidden auxiliary frame creation.
- * - This decision is made at problem level, not at processor configuration level.
- * - Therefore, if you want to permanently configure a processor for not creating estimated frames, see Processor::voting_active_ and its accessors.
- */
- bool permitAuxFrame(ProcessorBasePtr _processor_ptr) const;
-
- /** \brief New auxiliary frame callback
- *
- * New auxiliary frame callback: It should be called by any processor that creates a new auxiliary frame. It calls the auxiliaryFrameCallback of the processor motion.
- */
- void auxFrameCallback(FrameBasePtr _frame_ptr, //
- ProcessorBasePtr _processor_ptr, //
- const double& _time_tolerance);
-
// State getters
TimeStamp getTimeStamp ( ) const;
VectorComposite getState ( const StateStructure& _structure = "" ) const;
@@ -373,7 +356,6 @@ class Problem : public std::enable_shared_from_this<Problem>
bool getCovarianceBlock(StateBlockPtr _state, Eigen::MatrixXd& _cov, const int _row_and_col = 0) const;
bool getFrameCovariance(FrameBaseConstPtr _frame_ptr, Eigen::MatrixXd& _covariance) const;
bool getLastFrameCovariance(Eigen::MatrixXd& _covariance) const;
- bool getLastKeyOrAuxFrameCovariance(Eigen::MatrixXd& _covariance) const;
bool getLandmarkCovariance(LandmarkBaseConstPtr _landmark_ptr, Eigen::MatrixXd& _covariance) const;
diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp
index f97b97d73b7ecdc368c05ad9d3889fe9a1a088bd..b574f7ac1a452b13262a751a43870897720a7198 100644
--- a/src/problem/problem.cpp
+++ b/src/problem/problem.cpp
@@ -325,7 +325,7 @@ SensorBasePtr Problem::getSensor(const std::string& _sensor_name) const
return (*sen_it);
}
-FrameBasePtr Problem::emplaceKeyFrame(const TimeStamp& _time_stamp, //
+FrameBasePtr Problem::emplaceFrame(const TimeStamp& _time_stamp, //
const StateStructure& _frame_structure, //
const SizeEigen _dim, //
const Eigen::VectorXd& _frame_state)
@@ -352,53 +352,53 @@ FrameBasePtr Problem::emplaceKeyFrame(const TimeStamp& _time_stamp, //
assert (_frame_state.size() == index && "State vector incompatible with given structure and dimension! Vector too large.");
- auto frm = FrameBase::emplaceKeyFrame<FrameBase>(trajectory_ptr_,
+ auto frm = FrameBase::emplaceFrame<FrameBase>(trajectory_ptr_,
_time_stamp,
_frame_structure,
state);
return frm;
}
-FrameBasePtr Problem::emplaceKeyFrame(const TimeStamp& _time_stamp, //
+FrameBasePtr Problem::emplaceFrame(const TimeStamp& _time_stamp, //
const StateStructure& _frame_structure, //
const SizeEigen _dim)
{
- return emplaceKeyFrame(_time_stamp,
+ return emplaceFrame(_time_stamp,
_frame_structure,
getState(_time_stamp));
}
-FrameBasePtr Problem::emplaceKeyFrame (const TimeStamp& _time_stamp, //
+FrameBasePtr Problem::emplaceFrame (const TimeStamp& _time_stamp, //
const StateStructure& _frame_structure, //
const VectorComposite& _frame_state)
{
- return FrameBase::emplaceKeyFrame<FrameBase>(getTrajectory(),
+ return FrameBase::emplaceFrame<FrameBase>(getTrajectory(),
_time_stamp,
_frame_structure,
_frame_state);
}
-FrameBasePtr Problem::emplaceKeyFrame (const TimeStamp& _time_stamp, //
+FrameBasePtr Problem::emplaceFrame (const TimeStamp& _time_stamp, //
const VectorComposite& _frame_state)
{
- return FrameBase::emplaceKeyFrame<FrameBase>(getTrajectory(),
+ return FrameBase::emplaceFrame<FrameBase>(getTrajectory(),
_time_stamp,
getFrameStructure(),
_frame_state);
}
-FrameBasePtr Problem::emplaceKeyFrame(const TimeStamp& _time_stamp, //
+FrameBasePtr Problem::emplaceFrame(const TimeStamp& _time_stamp, //
const Eigen::VectorXd& _frame_state)
{
- return emplaceKeyFrame(_time_stamp,
+ return emplaceFrame(_time_stamp,
this->getFrameStructure(),
this->getDim(),
_frame_state);
}
-FrameBasePtr Problem::emplaceKeyFrame(const TimeStamp& _time_stamp)
+FrameBasePtr Problem::emplaceFrame(const TimeStamp& _time_stamp)
{
- return emplaceKeyFrame(_time_stamp,
+ return emplaceFrame(_time_stamp,
this->getFrameStructure(),
this->getDim());
}
@@ -639,31 +639,6 @@ void Problem::keyFrameCallback(FrameBasePtr _keyframe_ptr, ProcessorBasePtr _pro
_processor_ptr->startCaptureProfiling();
}
-bool Problem::permitAuxFrame(ProcessorBasePtr _processor_ptr) const
-{
- // This should implement a black list of processors that have forbidden auxiliary frame creation
- // This decision is made at problem level, not at processor configuration level.
- // If you want to configure a processor for not creating auxiliary frames, see Processor::voting_active_ and its accessors.
-
- // Currently allowing all processors to vote:
- return true;
-}
-
-void Problem::auxFrameCallback(FrameBasePtr _frame_ptr, ProcessorBasePtr _processor_ptr, const double& _time_tolerance)
-{
- // TODO
-// if (_processor_ptr)
-// {
-// WOLF_DEBUG((_processor_ptr->isMotion() ? "PM " : "PT "), _processor_ptr->getName(), ": AuxF", _frame_ptr->id(), " Callback emitted with ts = ", _frame_ptr->getTimeStamp());
-// }
-// else
-// {
-// WOLF_DEBUG("External callback: AuxF", _frame_ptr->id(), " Callback emitted with ts = ", _frame_ptr->getTimeStamp());
-// }
-//
-// processor_motion_ptr_->keyFrameCallback(_frame_ptr, _time_tolerance);
-}
-
StateBlockPtr Problem::notifyStateBlock(StateBlockPtr _state_ptr, Notification _noti)
{
std::lock_guard<std::mutex> lock(mut_notifications_);
@@ -1011,7 +986,7 @@ FrameBasePtr Problem::applyPriorOptions(const TimeStamp& _ts)
if (prior_options_->mode != "nothing" and prior_options_->mode != "")
{
- prior_keyframe = emplaceKeyFrame(_ts,
+ prior_keyframe = emplaceFrame(_ts,
prior_options_->state);
if (prior_options_->mode == "fix")
diff --git a/src/processor/processor_motion.cpp b/src/processor/processor_motion.cpp
index 4d06c1d7546af88621e3dc97e2ab7b2fef3f1032..a4ef91f15c8b515b2266e6361763c3f65f6ff556 100644
--- a/src/processor/processor_motion.cpp
+++ b/src/processor/processor_motion.cpp
@@ -662,7 +662,7 @@ VectorComposite ProcessorMotion::getState(const TimeStamp& _ts, const StateStruc
FrameBasePtr ProcessorMotion::setOrigin(const VectorComposite& _x_origin, const TimeStamp& _ts_origin)
{
- FrameBasePtr key_frame_ptr = FrameBase::emplaceKeyFrame<FrameBase>(getProblem()->getTrajectory(),
+ FrameBasePtr key_frame_ptr = FrameBase::emplaceFrame<FrameBase>(getProblem()->getTrajectory(),
_ts_origin,
getStateStructure(),
_x_origin);
diff --git a/src/processor/processor_tracker.cpp b/src/processor/processor_tracker.cpp
index a52071c23725f4ac3d2f07938a01fe4ae7a9a407..1a6e53d7ea46e61177c88d399eb1d9f60933b04a 100644
--- a/src/processor/processor_tracker.cpp
+++ b/src/processor/processor_tracker.cpp
@@ -81,7 +81,7 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
{
WOLF_DEBUG( "PT ", getName(), " FIRST_TIME_WITHOUT_PACK" );
- FrameBasePtr kfrm = FrameBase::emplaceKeyFrame<FrameBase>(getProblem()->getTrajectory(),
+ FrameBasePtr kfrm = FrameBase::emplaceFrame<FrameBase>(getProblem()->getTrajectory(),
incoming_ptr_->getTimeStamp(),
getProblem()->getFrameStructure(),
getProblem()->getState());
diff --git a/test/gtest_emplace.cpp b/test/gtest_emplace.cpp
index ebca6bb09bf463ed022aa81a1629e0accc877ff8..23d0e097076b741ac5e6976ae77df152b818171a 100644
--- a/test/gtest_emplace.cpp
+++ b/test/gtest_emplace.cpp
@@ -42,7 +42,7 @@ TEST(Emplace, Frame)
ProblemPtr P = Problem::create("POV", 3);
ASSERT_NE(P->getTrajectory(), nullptr);
- FrameBase::emplaceKeyFrame<FrameBase>(P->getTrajectory(), TimeStamp(0), std::make_shared<StateBlock>(2,true), std::make_shared<StateBlock>(2,true));
+ FrameBase::emplaceFrame<FrameBase>(P->getTrajectory(), TimeStamp(0), std::make_shared<StateBlock>(2,true), std::make_shared<StateBlock>(2,true));
ASSERT_EQ(P, P->getTrajectory()->getFirstFrame()->getTrajectory()->getProblem());
}
@@ -67,7 +67,7 @@ TEST(Emplace, Capture)
ProblemPtr P = Problem::create("POV", 3);
ASSERT_NE(P->getTrajectory(), nullptr);
- auto frm = FrameBase::emplaceKeyFrame<FrameBase>(P->getTrajectory(), TimeStamp(0), std::make_shared<StateBlock>(2,true), std::make_shared<StateBlock>(2,true));
+ auto frm = FrameBase::emplaceFrame<FrameBase>(P->getTrajectory(), TimeStamp(0), std::make_shared<StateBlock>(2,true), std::make_shared<StateBlock>(2,true));
ASSERT_EQ(P, P->getTrajectory()->getFirstFrame()->getTrajectory()->getProblem());
auto cpt = CaptureBase::emplace<CaptureBase>(frm, "Dummy", TimeStamp(0), nullptr, nullptr, nullptr, nullptr);
@@ -81,7 +81,7 @@ TEST(Emplace, Feature)
ProblemPtr P = Problem::create("POV", 3);
ASSERT_NE(P->getTrajectory(), nullptr);
- auto frm = FrameBase::emplaceKeyFrame<FrameBase>(P->getTrajectory(), TimeStamp(0), std::make_shared<StateBlock>(2,true), std::make_shared<StateBlock>(2,true));
+ auto frm = FrameBase::emplaceFrame<FrameBase>(P->getTrajectory(), TimeStamp(0), std::make_shared<StateBlock>(2,true), std::make_shared<StateBlock>(2,true));
ASSERT_EQ(P, P->getTrajectory()->getFirstFrame()->getTrajectory()->getProblem());
auto cpt = CaptureBase::emplace<CaptureBase>(frm, "Dummy", TimeStamp(0), nullptr, nullptr, nullptr, nullptr);
@@ -99,7 +99,7 @@ TEST(Emplace, Factor)
ProblemPtr P = Problem::create("POV", 3);
ASSERT_NE(P->getTrajectory(), nullptr);
- auto frm = FrameBase::emplaceKeyFrame<FrameBase>(P->getTrajectory(), TimeStamp(0), std::make_shared<StateBlock>(2,true), std::make_shared<StateBlock>(2,true));
+ auto frm = FrameBase::emplaceFrame<FrameBase>(P->getTrajectory(), TimeStamp(0), std::make_shared<StateBlock>(2,true), std::make_shared<StateBlock>(2,true));
ASSERT_EQ(P, P->getTrajectory()->getFirstFrame()->getTrajectory()->getProblem());
auto cpt = CaptureBase::emplace<CaptureBase>(frm, "Dummy", TimeStamp(0), nullptr, nullptr, nullptr, nullptr);
@@ -119,7 +119,7 @@ TEST(Emplace, EmplaceDerived)
{
ProblemPtr P = Problem::create("POV", 3);
- auto frm = FrameBase::emplaceKeyFrame<FrameBase>(P->getTrajectory(), TimeStamp(0), std::make_shared<StateBlock>(2,true), std::make_shared<StateBlock>(2,true));
+ auto frm = FrameBase::emplaceFrame<FrameBase>(P->getTrajectory(), TimeStamp(0), std::make_shared<StateBlock>(2,true), std::make_shared<StateBlock>(2,true));
auto sen = SensorBase::emplace<SensorOdom2d>(P->getHardware(), Eigen::VectorXd(3), ParamsSensorOdom2d());
auto cov = Eigen::MatrixXd::Identity(2,2);
auto cpt = CaptureBase::emplace<CaptureOdom2d>(frm, TimeStamp(0), sen, Eigen::VectorXd(2), cov, nullptr);
@@ -141,7 +141,7 @@ TEST(Emplace, ReturnDerived)
ProblemPtr P = Problem::create("POV", 3);
ASSERT_NE(P->getTrajectory(), nullptr);
- auto frm = FrameBase::emplaceKeyFrame<FrameBase>(P->getTrajectory(), TimeStamp(0), std::make_shared<StateBlock>(2,true), std::make_shared<StateBlock>(2,true));
+ auto frm = FrameBase::emplaceFrame<FrameBase>(P->getTrajectory(), TimeStamp(0), std::make_shared<StateBlock>(2,true), std::make_shared<StateBlock>(2,true));
auto cpt = CaptureBase::emplace<CaptureBase>(frm, "Dummy", TimeStamp(0), nullptr, nullptr, nullptr, nullptr);
auto cov = Eigen::MatrixXd::Identity(2,2);
auto ftr = FeatureBase::emplace<FeatureOdom2d>(cpt, Eigen::VectorXd(2), cov);
diff --git a/test/gtest_factor_absolute.cpp b/test/gtest_factor_absolute.cpp
index 8c3b353ccb9493be57f2d38a6ffe257a6375f3b8..dc3551d2c79d47973e4dca81d4046fa1f669661d 100644
--- a/test/gtest_factor_absolute.cpp
+++ b/test/gtest_factor_absolute.cpp
@@ -35,7 +35,7 @@ ProblemPtr problem_ptr = Problem::create("POV", 3);
SolverCeres solver(problem_ptr);
// Two frames
-FrameBasePtr frm0 = problem_ptr->emplaceKeyFrame(0, problem_ptr->stateZero() );
+FrameBasePtr frm0 = problem_ptr->emplaceFrame(0, problem_ptr->stateZero() );
// Capture
// auto cap0 = CaptureBase::emplace<CaptureMotion>(frm0, "IMU ABS", 0, nullptr, pose10, 10, 9, nullptr);
diff --git a/test/gtest_factor_autodiff.cpp b/test/gtest_factor_autodiff.cpp
index 9f67d98ab00ea8c7e4ab6f6f59a2648d96376d6d..f4e3108d6bdf2e129358b851e82772dc5cffae3a 100644
--- a/test/gtest_factor_autodiff.cpp
+++ b/test/gtest_factor_autodiff.cpp
@@ -353,8 +353,8 @@ TEST(FactorAutodiff, EmplaceOdom2d)
ProblemPtr problem = Problem::create("PO", 2);
- FrameBasePtr fr1_ptr = problem->emplaceKeyFrame(TimeStamp(1));
- FrameBasePtr fr2_ptr = problem->emplaceKeyFrame(TimeStamp(2));
+ FrameBasePtr fr1_ptr = problem->emplaceFrame(TimeStamp(1));
+ FrameBasePtr fr2_ptr = problem->emplaceFrame(TimeStamp(2));
// SENSOR
ParamsSensorOdom2d intrinsics_odo;
@@ -386,8 +386,8 @@ TEST(FactorAutodiff, ResidualOdom2d)
f1_pose << 2,1,M_PI;
f2_pose << 3,5,3*M_PI/2;
- FrameBasePtr fr1_ptr = problem->emplaceKeyFrame(TimeStamp(1), f1_pose);
- FrameBasePtr fr2_ptr = problem->emplaceKeyFrame(TimeStamp(2), f2_pose);
+ FrameBasePtr fr1_ptr = problem->emplaceFrame(TimeStamp(1), f1_pose);
+ FrameBasePtr fr2_ptr = problem->emplaceFrame(TimeStamp(2), f2_pose);
// SENSOR
ParamsSensorOdom2d intrinsics_odo;
@@ -432,8 +432,8 @@ TEST(FactorAutodiff, JacobianOdom2d)
f1_pose << 2,1,M_PI;
f2_pose << 3,5,3*M_PI/2;
- FrameBasePtr fr1_ptr = problem->emplaceKeyFrame(TimeStamp(1), f1_pose);
- FrameBasePtr fr2_ptr = problem->emplaceKeyFrame(TimeStamp(2), f2_pose);
+ FrameBasePtr fr1_ptr = problem->emplaceFrame(TimeStamp(1), f1_pose);
+ FrameBasePtr fr2_ptr = problem->emplaceFrame(TimeStamp(2), f2_pose);
// SENSOR
ParamsSensorOdom2d intrinsics_odo;
@@ -512,8 +512,8 @@ TEST(FactorAutodiff, AutodiffVsAnalytic)
f1_pose << 2,1,M_PI;
f2_pose << 3,5,3*M_PI/2;
- FrameBasePtr fr1_ptr = problem->emplaceKeyFrame(TimeStamp(1), f1_pose);
- FrameBasePtr fr2_ptr = problem->emplaceKeyFrame(TimeStamp(2), f2_pose);
+ FrameBasePtr fr1_ptr = problem->emplaceFrame(TimeStamp(1), f1_pose);
+ FrameBasePtr fr2_ptr = problem->emplaceFrame(TimeStamp(2), f2_pose);
// SENSOR
ParamsSensorOdom2d intrinsics_odo;
diff --git a/test/gtest_factor_autodiff_distance_3d.cpp b/test/gtest_factor_autodiff_distance_3d.cpp
index 3e6974cb91303c8f864db2816d801207eba309ad..fa3d365424b3d62aa56eb6e6d186163251a594ad 100644
--- a/test/gtest_factor_autodiff_distance_3d.cpp
+++ b/test/gtest_factor_autodiff_distance_3d.cpp
@@ -55,9 +55,9 @@ class FactorAutodiffDistance3d_Test : public testing::Test
problem = Problem::create("PO", 3);
solver = std::make_shared<SolverCeres>(problem);
- F1 = problem->emplaceKeyFrame (1.0, pose1);
+ F1 = problem->emplaceFrame (1.0, pose1);
- F2 = problem->emplaceKeyFrame (2.0, pose2);
+ F2 = problem->emplaceFrame (2.0, pose2);
C2 = CaptureBase::emplace<CaptureBase>(F2, "Base", 1.0);
}
diff --git a/test/gtest_factor_block_difference.cpp b/test/gtest_factor_block_difference.cpp
index 9b572504fa686bd555ba3b5ec25f39d1a4fb7afd..1dbf21b97b609ae212b1e88cf16ef993c2e742dc 100644
--- a/test/gtest_factor_block_difference.cpp
+++ b/test/gtest_factor_block_difference.cpp
@@ -58,7 +58,7 @@ class FixtureFactorBlockDifference : public testing::Test
//FeatureBasePtr featV0 = FeatureBase::emplace<FeatureBase>(capV0, "Vel0", x_origin.tail(3), cov_prior.bottomRightCorner<3,3>());
//FactorBasePtr facV0 = FactorBase::emplace<FactorBlockAbsolute>(featV0, KF0_->getV(), nullptr, false);
- KF1_ = problem_->emplaceKeyFrame(t1, problem_->stateZero());
+ KF1_ = problem_->emplaceFrame(t1, problem_->stateZero());
Cap_ = CaptureBase::emplace<CaptureBase>(KF1_, "BlockDifference", t1);
}
diff --git a/test/gtest_factor_diff_drive.cpp b/test/gtest_factor_diff_drive.cpp
index 51661f8ab26d1257f43dd4d4cbcc8dd5237b80d8..61f38c020cc0a6fbc53b3c9f154e11bbf7f926a9 100644
--- a/test/gtest_factor_diff_drive.cpp
+++ b/test/gtest_factor_diff_drive.cpp
@@ -159,11 +159,11 @@ class FactorDiffDriveTest : public testing::Test
processor = std::static_pointer_cast<ProcessorDiffDrivePublic>(prc);
// frames
- F0 = FrameBase::emplaceKeyFrame<FrameBase>(trajectory,
+ F0 = FrameBase::emplaceFrame<FrameBase>(trajectory,
0.0,
"PO",
std::list<VectorXd>{Vector2d(0,0), Vector1d(0)});
- F1 = FrameBase::emplaceKeyFrame<FrameBase>(trajectory,
+ F1 = FrameBase::emplaceFrame<FrameBase>(trajectory,
1.0,
"PO",
std::list<VectorXd>{Vector2d(1,0), Vector1d(0)});
diff --git a/test/gtest_factor_odom_2d.cpp b/test/gtest_factor_odom_2d.cpp
index baee1dddcaf2c1fb998e3ae551f29a39a335fd5b..740933a67158634dfd7c6194c8b6a46bd926c063 100644
--- a/test/gtest_factor_odom_2d.cpp
+++ b/test/gtest_factor_odom_2d.cpp
@@ -19,8 +19,8 @@ ProblemPtr problem_ptr = Problem::create("PO", 2);
SolverCeres solver(problem_ptr);
// Two frames
-FrameBasePtr frm0 = problem_ptr->emplaceKeyFrame(TimeStamp(0), Vector3d::Zero());
-FrameBasePtr frm1 = problem_ptr->emplaceKeyFrame(TimeStamp(1), Vector3d::Zero());
+FrameBasePtr frm0 = problem_ptr->emplaceFrame(TimeStamp(0), Vector3d::Zero());
+FrameBasePtr frm1 = problem_ptr->emplaceFrame(TimeStamp(1), Vector3d::Zero());
// Capture from frm1 to frm0
auto cap1 = CaptureBase::emplace<CaptureOdom2d>(frm1, 1, nullptr, Vector3d::Zero(), data_cov);
diff --git a/test/gtest_factor_odom_3d.cpp b/test/gtest_factor_odom_3d.cpp
index 24daac332094bb8e65964eb0acdd9346341eb3f9..7a57f0354a19c2a53e8ce6adac68f07713a93664 100644
--- a/test/gtest_factor_odom_3d.cpp
+++ b/test/gtest_factor_odom_3d.cpp
@@ -37,8 +37,8 @@ ProblemPtr problem_ptr = Problem::create("PO", 3);
SolverCeres solver(problem_ptr);
// Two frames
-FrameBasePtr frm0 = problem_ptr->emplaceKeyFrame(TimeStamp(0), problem_ptr->stateZero());
-FrameBasePtr frm1 = problem_ptr->emplaceKeyFrame(TimeStamp(1), delta);
+FrameBasePtr frm0 = problem_ptr->emplaceFrame(TimeStamp(0), problem_ptr->stateZero());
+FrameBasePtr frm1 = problem_ptr->emplaceFrame(TimeStamp(1), delta);
// Capture, feature and factor from frm1 to frm0
auto cap1 = CaptureBase::emplace<CaptureMotion>(frm1, "CaptureOdom3d", 1, nullptr, delta, nullptr);
diff --git a/test/gtest_factor_pose_2d.cpp b/test/gtest_factor_pose_2d.cpp
index 749d514d8cc4c0479cfdf5092dca6e5face76ea8..7ecc6ab0848695e7922d9e9fb83f92a73a95e861 100644
--- a/test/gtest_factor_pose_2d.cpp
+++ b/test/gtest_factor_pose_2d.cpp
@@ -30,7 +30,7 @@ ProblemPtr problem = Problem::create("PO", 2);
SolverCeres solver(problem);
// Two frames
-FrameBasePtr frm0 = problem->emplaceKeyFrame(TimeStamp(0), problem->stateZero());
+FrameBasePtr frm0 = problem->emplaceFrame(TimeStamp(0), problem->stateZero());
// Capture, feature and factor from frm1 to frm0
auto cap0 = CaptureBase::emplace<CaptureMotion>(frm0, "CaptureOdom2d", 0, nullptr, pose, nullptr);
diff --git a/test/gtest_factor_pose_3d.cpp b/test/gtest_factor_pose_3d.cpp
index 88433b4b4433ce7e5290c81b34766d13fb2f9831..c44374caa2a908080d36e5396a9e41db846b7fb7 100644
--- a/test/gtest_factor_pose_3d.cpp
+++ b/test/gtest_factor_pose_3d.cpp
@@ -36,7 +36,7 @@ ProblemPtr problem = Problem::create("PO", 3);
SolverCeres solver(problem);
// Two frames
-FrameBasePtr frm0 = problem->emplaceKeyFrame(0, problem->stateZero() );
+FrameBasePtr frm0 = problem->emplaceFrame(0, problem->stateZero() );
// Capture, feature and factor
auto cap0 = CaptureBase::emplace<CaptureMotion>(frm0, "CaptureOdom3d", 0, nullptr, pose7, nullptr);
diff --git a/test/gtest_factor_relative_2d_analytic.cpp b/test/gtest_factor_relative_2d_analytic.cpp
index 93581a6ac63b18da056f84ea5caed95ca009ebd4..70cbc464716d50d60bb8ad05cfdb1a4bd6f79d95 100644
--- a/test/gtest_factor_relative_2d_analytic.cpp
+++ b/test/gtest_factor_relative_2d_analytic.cpp
@@ -19,8 +19,8 @@ ProblemPtr problem_ptr = Problem::create("PO", 2);
SolverCeres solver(problem_ptr);
// Two frames
-FrameBasePtr frm0 = problem_ptr->emplaceKeyFrame(0.0, Vector3d::Zero());
-FrameBasePtr frm1 = problem_ptr->emplaceKeyFrame(1.0, Vector3d::Zero());
+FrameBasePtr frm0 = problem_ptr->emplaceFrame(0.0, Vector3d::Zero());
+FrameBasePtr frm1 = problem_ptr->emplaceFrame(1.0, Vector3d::Zero());
// Capture from frm1 to frm0
auto cap1 = CaptureBase::emplace<CaptureOdom2d>(frm1, 1, nullptr, Vector3d::Zero(), data_cov);
diff --git a/test/gtest_factor_relative_pose_2d_with_extrinsics.cpp b/test/gtest_factor_relative_pose_2d_with_extrinsics.cpp
index 78321478cc5126e419ca4fc8fea53c5ed79caa71..0b8c4a8a376307f191ecbe6d118f1840ad07934f 100644
--- a/test/gtest_factor_relative_pose_2d_with_extrinsics.cpp
+++ b/test/gtest_factor_relative_pose_2d_with_extrinsics.cpp
@@ -27,8 +27,8 @@ auto sensor_odom2d = problem_ptr->installSensor("SensorOdom2d", "odom", Vector3d
auto processor_odom2d = problem_ptr->installProcessor("ProcessorOdom2d", "odom", sensor_odom2d, std::make_shared<ParamsProcessorOdom2d>());
// Two frames
-FrameBasePtr frm0 = problem_ptr->emplaceKeyFrame(0, Vector3d::Zero() );
-FrameBasePtr frm1 = problem_ptr->emplaceKeyFrame(1, Vector3d::Zero() );
+FrameBasePtr frm0 = problem_ptr->emplaceFrame(0, Vector3d::Zero() );
+FrameBasePtr frm1 = problem_ptr->emplaceFrame(1, Vector3d::Zero() );
// Capture from frm1 to frm0
auto cap1 = CaptureBase::emplace<CaptureOdom2d>(frm1, 1, sensor_odom2d, Vector3d::Zero(), data_cov);
diff --git a/test/gtest_frame_base.cpp b/test/gtest_frame_base.cpp
index 956567ee8c2a0d969ad1e0d789c4e30a797c71f4..8b651ae32e831d27a738feb66012779c4bbc7664 100644
--- a/test/gtest_frame_base.cpp
+++ b/test/gtest_frame_base.cpp
@@ -65,8 +65,8 @@ TEST(FrameBase, LinksToTree)
intrinsics_odo.k_disp_to_disp = 1;
intrinsics_odo.k_rot_to_rot = 1;
auto S = SensorBase::emplace<SensorOdom2d>(P->getHardware(), Vector3d::Zero(), intrinsics_odo);
- auto F1 = FrameBase::emplaceKeyFrame<FrameBase>(T, 1, make_shared<StateBlock>(2), make_shared<StateBlock>(1));
- auto F2 = FrameBase::emplaceKeyFrame<FrameBase>(T, 2, make_shared<StateBlock>(2), make_shared<StateBlock>(1));
+ auto F1 = FrameBase::emplaceFrame<FrameBase>(T, 1, make_shared<StateBlock>(2), make_shared<StateBlock>(1));
+ auto F2 = FrameBase::emplaceFrame<FrameBase>(T, 2, make_shared<StateBlock>(2), make_shared<StateBlock>(1));
auto C = CaptureBase::emplace<CaptureMotion>(F1, "CaptureMotion", 1, S, Vector3d::Zero(), nullptr);
WOLF_INFO("F2->getCaptureList().size() ", F2->getCaptureList().size());
auto p = std::make_shared<ProcessorOdom2d>(std::make_shared<ParamsProcessorOdom2d>());
diff --git a/test/gtest_odom_2d.cpp b/test/gtest_odom_2d.cpp
index c4b9d0979bc4258989f2bf639092313f20f5baef..ab545f2eca3122493a20ac31024faab520f46c64 100644
--- a/test/gtest_odom_2d.cpp
+++ b/test/gtest_odom_2d.cpp
@@ -129,14 +129,14 @@ TEST(Odom2d, FactorFix_and_FactorOdom2d)
// KF1 and motion from KF0
t += dt;
- FrameBasePtr F1 = Pr->emplaceKeyFrame(t, Vector3d::Zero());
+ FrameBasePtr F1 = Pr->emplaceFrame(t, Vector3d::Zero());
auto C1 = CaptureBase::emplace<CaptureBase>(F1, "CaptureOdom2d", t);
auto f1 = FeatureBase::emplace<FeatureBase>(C1, "FeatureOdom2d", delta, delta_cov);
auto c1 = FactorBase::emplace<FactorOdom2d>(f1, f1, F0, nullptr, false);
// KF2 and motion from KF1
t += dt;
- FrameBasePtr F2 = Pr->emplaceKeyFrame(t, Vector3d::Zero());
+ FrameBasePtr F2 = Pr->emplaceFrame(t, Vector3d::Zero());
auto C2 = CaptureBase::emplace<CaptureBase>(F2, "CaptureOdom2d", t);
auto f2 = FeatureBase::emplace<FeatureBase>(C2, "FeatureOdom2d", delta, delta_cov);
auto c2 = FactorBase::emplace<FactorOdom2d>(f2, f2, F1, nullptr, false);
@@ -418,7 +418,7 @@ TEST(Odom2d, KF_callback)
std::cout << "-----------------------------\nSplit after last KF; time: " << t_split << std::endl;
Vector3d x_split = processor_odom2d->getState(t_split).vector("PO");
- FrameBasePtr keyframe_2 = problem->emplaceKeyFrame(t_split, x_split);
+ FrameBasePtr keyframe_2 = problem->emplaceFrame(t_split, x_split);
// there must be 2KF and one F
ASSERT_EQ(problem->getTrajectory()->getFrameMap().size(), 2);
@@ -455,7 +455,7 @@ TEST(Odom2d, KF_callback)
problem->print(4,1,1,1);
x_split = processor_odom2d->getState(t_split).vector("PO");
- FrameBasePtr keyframe_1 = problem->emplaceKeyFrame(t_split, x_split);
+ FrameBasePtr keyframe_1 = problem->emplaceFrame(t_split, x_split);
ASSERT_TRUE(problem->check(0));
processor_odom2d->keyFrameCallback(keyframe_1, dt/2);
diff --git a/test/gtest_problem.cpp b/test/gtest_problem.cpp
index a0b8971db538d6353f147b02fdfec74b9ed17b98..f40f2f44f24521c88bb7d8b8732fb0bcc3c321cb 100644
--- a/test/gtest_problem.cpp
+++ b/test/gtest_problem.cpp
@@ -224,9 +224,9 @@ TEST(Problem, emplaceFrame_factory)
{
ProblemPtr P = Problem::create("PO", 2);
- FrameBasePtr f0 = P->emplaceKeyFrame(0, "PO" , 2, VectorXd(3) );
- FrameBasePtr f1 = P->emplaceKeyFrame(1, "PO" , 3, VectorXd(7) );
- FrameBasePtr f2 = P->emplaceKeyFrame(2, "POV", 3, VectorXd(10) );
+ FrameBasePtr f0 = P->emplaceFrame(0, "PO" , 2, VectorXd(3) );
+ FrameBasePtr f1 = P->emplaceFrame(1, "PO" , 3, VectorXd(7) );
+ FrameBasePtr f2 = P->emplaceFrame(2, "POV", 3, VectorXd(10) );
// check that all frames are effectively in the trajectory
ASSERT_EQ(P->getTrajectory()->getFrameMap().size(), (SizeStd) 3);
@@ -261,7 +261,7 @@ TEST(Problem, StateBlocks)
auto pm = P->installProcessor("ProcessorOdom3d", "odom integrator", "odometer", wolf_root + "/test/yaml/processor_odom_3d.yaml");
// 2 state blocks, estimated
- auto KF = P->emplaceKeyFrame(0, "PO", 3, xs3d );
+ auto KF = P->emplaceFrame(0, "PO", 3, xs3d );
ASSERT_EQ(P->getStateBlockNotificationMapSize(), (SizeStd)(2 + 2));
// Notifications
@@ -320,7 +320,7 @@ TEST(Problem, Covariances)
// 4 state blocks, estimated
St->unfixExtrinsics();
- FrameBasePtr F = P->emplaceKeyFrame(0, "PO", 3, xs3d );
+ FrameBasePtr F = P->emplaceFrame(0, "PO", 3, xs3d );
// set covariance (they are not computed without a solver)
P->addCovarianceBlock(F->getP(), Eigen::Matrix3d::Identity());
@@ -356,7 +356,7 @@ TEST(Problem, perturb)
int i = 0;
for (TimeStamp t = 0.0; t < 2.0; t += 1.0)
{
- auto F = problem->emplaceKeyFrame(t, pose );
+ auto F = problem->emplaceFrame(t, pose );
if (i==0) F->fix();
for (int j = 0; j< 2 ; j++)
@@ -447,7 +447,7 @@ TEST(Problem, check)
int i = 0;
for (TimeStamp t = 0.0; t < 2.0; t += 1.0)
{
- auto F = problem->emplaceKeyFrame(t, pose);
+ auto F = problem->emplaceFrame(t, pose);
if (i==0) F->fix();
for (int j = 0; j< 2 ; j++)
diff --git a/test/gtest_processor_loopclosure.cpp b/test/gtest_processor_loopclosure.cpp
index 7f99374f5eb951c7923a13284e6e3f1db50ee2ae..4e50c870348da1877b3a599c48158730e2df47ab 100644
--- a/test/gtest_processor_loopclosure.cpp
+++ b/test/gtest_processor_loopclosure.cpp
@@ -86,7 +86,7 @@ TEST(ProcessorLoopClosure, installProcessor)
// new KF
t += dt;
- auto kf = problem->emplaceKeyFrame(t, x); //KF2
+ auto kf = problem->emplaceFrame(t, x); //KF2
// emplace a capture in KF
auto capt_lc = CaptureBase::emplace<CaptureVoid>(kf, t, sens_lc);
proc_lc->captureCallback(capt_lc);
diff --git a/test/gtest_processor_motion.cpp b/test/gtest_processor_motion.cpp
index d905bcad555b88e4cd92afed94771c2e7f46546d..e531defd5721e3374308d67e793a01f682701577 100644
--- a/test/gtest_processor_motion.cpp
+++ b/test/gtest_processor_motion.cpp
@@ -312,7 +312,7 @@ TEST_F(ProcessorMotion_test, mergeCaptures)
SensorBasePtr S = processor->getSensor();
TimeStamp t_target = 8.5;
- FrameBasePtr F_target = problem->emplaceKeyFrame(t_target);
+ FrameBasePtr F_target = problem->emplaceFrame(t_target);
CaptureMotionPtr C_source = std::dynamic_pointer_cast<CaptureMotion>(processor->getLast());
CaptureMotionPtr C_target = CaptureBase::emplace<CaptureMotion>(F_target,
"ODOM 2d",
@@ -389,7 +389,7 @@ TEST_F(ProcessorMotion_test, splitBufferAutoPrior)
SensorBasePtr S = processor->getSensor();
TimeStamp t_target = 8.5;
- FrameBasePtr F_target = problem->emplaceKeyFrame(t_target);
+ FrameBasePtr F_target = problem->emplaceFrame(t_target);
CaptureMotionPtr C_source = std::dynamic_pointer_cast<CaptureMotion>(processor->getLast());
CaptureMotionPtr C_target = CaptureBase::emplace<CaptureMotion>(F_target,
"ODOM 2d",
@@ -434,7 +434,7 @@ TEST_F(ProcessorMotion_test, splitBufferFactorPrior)
SensorBasePtr S = processor->getSensor();
TimeStamp t_target = 8.5;
- FrameBasePtr F_target = problem->emplaceKeyFrame(t_target);
+ FrameBasePtr F_target = problem->emplaceFrame(t_target);
CaptureMotionPtr C_source = std::dynamic_pointer_cast<CaptureMotion>(processor->getLast());
CaptureMotionPtr C_target = CaptureBase::emplace<CaptureMotion>(F_target,
"ODOM 2d",
@@ -479,7 +479,7 @@ TEST_F(ProcessorMotion_test, splitBufferFixPrior)
SensorBasePtr S = processor->getSensor();
TimeStamp t_target = 8.5;
- FrameBasePtr F_target = problem->emplaceKeyFrame(t_target);
+ FrameBasePtr F_target = problem->emplaceFrame(t_target);
CaptureMotionPtr C_source = std::dynamic_pointer_cast<CaptureMotion>(processor->getLast());
CaptureMotionPtr C_target = CaptureBase::emplace<CaptureMotion>(F_target,
"ODOM 2d",
diff --git a/test/gtest_solver_ceres_multithread.cpp b/test/gtest_solver_ceres_multithread.cpp
index 91fa716cb45d02c14bf9dad6068c4d6f4bae6780..3cd41dde30bc72ecc16fc27d70b8cde5fe327a7b 100644
--- a/test/gtest_solver_ceres_multithread.cpp
+++ b/test/gtest_solver_ceres_multithread.cpp
@@ -56,7 +56,7 @@ TEST(SolverCeresMultithread, MultiThreadingTruncatedNotifications)
while (true)
{
// Emplace Frame, Capture, feature and factor pose 2d
- FrameBasePtr F = P->emplaceKeyFrame(ts, P->stateZero());
+ FrameBasePtr F = P->emplaceFrame(ts, P->stateZero());
auto C = CaptureBase::emplace<CaptureVoid>(F, ts, nullptr);
auto f = FeatureBase::emplace<FeatureBase>(C, "FeaturePose2d", Vector3d::Zero(), Matrix3d::Identity());
auto c = FactorBase::emplace<FactorPose2d>(f, f, nullptr, false);
diff --git a/test/gtest_solver_manager_multithread.cpp b/test/gtest_solver_manager_multithread.cpp
index 0770b33aed43e5ebbc9a204e68428f7a0022c870..4e772c1bb74747d80a6ceda04d62a679f323a4e3 100644
--- a/test/gtest_solver_manager_multithread.cpp
+++ b/test/gtest_solver_manager_multithread.cpp
@@ -51,7 +51,7 @@ TEST(SolverManagerMultithread, MultiThreadingTruncatedNotifications)
while (true)
{
// Emplace Frame, Capture, feature and factor pose 2d
- FrameBasePtr F = P->emplaceKeyFrame(ts, P->stateZero());
+ FrameBasePtr F = P->emplaceFrame(ts, P->stateZero());
auto C = CaptureBase::emplace<CaptureVoid>(F, ts, nullptr);
auto f = FeatureBase::emplace<FeatureBase>(C, "FeaturePose2d", Vector3d::Zero(), Matrix3d::Identity());
auto c = FactorBase::emplace<FactorPose2d>(f, f, nullptr, false);
diff --git a/test/gtest_trajectory.cpp b/test/gtest_trajectory.cpp
index ff103bc097ba9d166ef76a97fcde20b15199507a..81f09e4e5ac85da4d9d5a6f25b25582c6727f180 100644
--- a/test/gtest_trajectory.cpp
+++ b/test/gtest_trajectory.cpp
@@ -32,8 +32,8 @@ TEST(TrajectoryBase, ClosestKeyFrame)
// 1 2 3 4 time stamps
// --+-----+-----+-----+---> time
- FrameBasePtr F1 = P->emplaceKeyFrame( 1, Eigen::Vector3d::Zero() );
- FrameBasePtr F2 = P->emplaceKeyFrame( 2, Eigen::Vector3d::Zero() );
+ FrameBasePtr F1 = P->emplaceFrame( 1, Eigen::Vector3d::Zero() );
+ FrameBasePtr F2 = P->emplaceFrame( 2, Eigen::Vector3d::Zero() );
// FrameBasePtr F3 = P->emplaceFrame(AUXILIARY, 3, Eigen::Vector3d::Zero() );
FrameBasePtr F3 = FrameBase::createNonKeyFrame<FrameBase>(3, P->getFrameStructure(),
// P->getDim(),
@@ -80,14 +80,14 @@ TEST(TrajectoryBase, Add_Remove_Frame)
std::cout << __LINE__ << std::endl;
// add F1
- FrameBasePtr F1 = P->emplaceKeyFrame(1, Eigen::Vector3d::Zero()); // 2 non-fixed
+ FrameBasePtr F1 = P->emplaceFrame(1, Eigen::Vector3d::Zero()); // 2 non-fixed
if (debug) P->print(2,0,0,0);
ASSERT_EQ(T->getFrameMap(). size(), (SizeStd) 1);
ASSERT_EQ(P->getStateBlockNotificationMapSize(), (SizeStd) 2);
std::cout << __LINE__ << std::endl;
// add F2
- FrameBasePtr F2 = P->emplaceKeyFrame(2, Eigen::Vector3d::Zero()); // 1 fixed, 1 not
+ FrameBasePtr F2 = P->emplaceFrame(2, Eigen::Vector3d::Zero()); // 1 fixed, 1 not
if (debug) P->print(2,0,0,0);
ASSERT_EQ(T->getFrameMap(). size(), (SizeStd) 2);
ASSERT_EQ(P->getStateBlockNotificationMapSize(), (SizeStd) 4);
diff --git a/test/gtest_tree_manager.cpp b/test/gtest_tree_manager.cpp
index 15bb1778940d6e2d1e80ad05e195caba66b6417d..9c684c7bc0f3f30199a8d86e2ca9bf4b8aacb87f 100644
--- a/test/gtest_tree_manager.cpp
+++ b/test/gtest_tree_manager.cpp
@@ -94,7 +94,7 @@ TEST(TreeManager, keyFrameCallback)
ASSERT_EQ(GM->n_KF_, 0);
- auto F0 = P->emplaceKeyFrame(0, "PO", 3, VectorXd(7) );
+ auto F0 = P->emplaceFrame(0, "PO", 3, VectorXd(7) );
P->keyFrameCallback(F0, nullptr, 0);
ASSERT_EQ(GM->n_KF_, 1);
diff --git a/test/gtest_tree_manager_sliding_window.cpp b/test/gtest_tree_manager_sliding_window.cpp
index 0c5e7c2aec97277425289f3f28a9ba3d61dece1c..e8ffeb407df4df15c00715b21a3e86d554b38da8 100644
--- a/test/gtest_tree_manager_sliding_window.cpp
+++ b/test/gtest_tree_manager_sliding_window.cpp
@@ -87,7 +87,7 @@ TEST(TreeManagerSlidingWindow, slidingWindowFixViral)
Matrix6d cov = Matrix6d::Identity();
// FRAME 2 ----------------------------------------------------------
- auto F2 = P->emplaceKeyFrame(TimeStamp(2), "PO", 3, state);
+ auto F2 = P->emplaceFrame(TimeStamp(2), "PO", 3, state);
P->keyFrameCallback(F2, nullptr, 0);
// absolute factor
@@ -103,7 +103,7 @@ TEST(TreeManagerSlidingWindow, slidingWindowFixViral)
EXPECT_FALSE(F1->isRemoving());
// FRAME 3 ----------------------------------------------------------
- auto F3 = P->emplaceKeyFrame(TimeStamp(3), "PO", 3, state);
+ auto F3 = P->emplaceFrame(TimeStamp(3), "PO", 3, state);
P->keyFrameCallback(F3, nullptr, 0);
// absolute factor
@@ -119,7 +119,7 @@ TEST(TreeManagerSlidingWindow, slidingWindowFixViral)
EXPECT_FALSE(F1->isRemoving());
// FRAME 4 ----------------------------------------------------------
- auto F4 = P->emplaceKeyFrame(TimeStamp(4), "PO", 3, state);
+ auto F4 = P->emplaceFrame(TimeStamp(4), "PO", 3, state);
P->keyFrameCallback(F4, nullptr, 0);
// absolute factor
@@ -139,7 +139,7 @@ TEST(TreeManagerSlidingWindow, slidingWindowFixViral)
EXPECT_TRUE(F2->isFixed()); //Fixed
// FRAME 5 ----------------------------------------------------------
- auto F5 = P->emplaceKeyFrame(TimeStamp(5), "PO", 3, state);
+ auto F5 = P->emplaceFrame(TimeStamp(5), "PO", 3, state);
P->keyFrameCallback(F5, nullptr, 0);
// absolute factor
@@ -184,7 +184,7 @@ TEST(TreeManagerSlidingWindow, slidingWindowNoFixNoViral)
Matrix6d cov = Matrix6d::Identity();
// FRAME 2 ----------------------------------------------------------
- auto F2 = P->emplaceKeyFrame(TimeStamp(2), "PO", 3, state);
+ auto F2 = P->emplaceFrame(TimeStamp(2), "PO", 3, state);
P->keyFrameCallback(F2, nullptr, 0);
// absolute factor
@@ -200,7 +200,7 @@ TEST(TreeManagerSlidingWindow, slidingWindowNoFixNoViral)
EXPECT_FALSE(F1->isRemoving());
// FRAME 3 ----------------------------------------------------------
- auto F3 = P->emplaceKeyFrame(TimeStamp(3), "PO", 3, state);
+ auto F3 = P->emplaceFrame(TimeStamp(3), "PO", 3, state);
P->keyFrameCallback(F3, nullptr, 0);
// absolute factor
@@ -216,7 +216,7 @@ TEST(TreeManagerSlidingWindow, slidingWindowNoFixNoViral)
EXPECT_FALSE(F1->isRemoving());
// FRAME 4 ----------------------------------------------------------
- auto F4 = P->emplaceKeyFrame(TimeStamp(4), "PO", 3, state);
+ auto F4 = P->emplaceFrame(TimeStamp(4), "PO", 3, state);
P->keyFrameCallback(F4, nullptr, 0);
// absolute factor
@@ -236,7 +236,7 @@ TEST(TreeManagerSlidingWindow, slidingWindowNoFixNoViral)
EXPECT_FALSE(F2->isFixed()); //Not fixed
// FRAME 5 ----------------------------------------------------------
- auto F5 = P->emplaceKeyFrame(TimeStamp(5), "PO", 3, state);
+ auto F5 = P->emplaceFrame(TimeStamp(5), "PO", 3, state);
P->keyFrameCallback(F5, nullptr, 0);
// absolute factor
diff --git a/test/gtest_tree_manager_sliding_window_dual_rate.cpp b/test/gtest_tree_manager_sliding_window_dual_rate.cpp
index ae4112bc3c27d88e103694ffd0824f4b7b35de2d..fa1414aafe81283cbc931b20498e3b737b13b533 100644
--- a/test/gtest_tree_manager_sliding_window_dual_rate.cpp
+++ b/test/gtest_tree_manager_sliding_window_dual_rate.cpp
@@ -117,7 +117,7 @@ TEST(TreeManagerSlidingWindowDualRate, slidingWindowFixViral)
* Sliding window:
* ( ) ( ) ( )(F1)(F2)
*/
- auto F2 = P->emplaceKeyFrame(TimeStamp(2), "PO", 3, state);
+ auto F2 = P->emplaceFrame(TimeStamp(2), "PO", 3, state);
P->keyFrameCallback(F2, nullptr, 0);
// absolute factor
@@ -151,7 +151,7 @@ TEST(TreeManagerSlidingWindowDualRate, slidingWindowFixViral)
* Sliding window:
* ( ) ( ) (F1)(F2)(F3)
*/
- auto F3 = P->emplaceKeyFrame(TimeStamp(3), "PO", 3, state);
+ auto F3 = P->emplaceFrame(TimeStamp(3), "PO", 3, state);
P->keyFrameCallback(F3, nullptr, 0);
// absolute factor
@@ -194,7 +194,7 @@ TEST(TreeManagerSlidingWindowDualRate, slidingWindowFixViral)
* Sliding window:
* ( ) (F1)(F2)(F3)(F4)
*/
- auto F4 = P->emplaceKeyFrame(TimeStamp(4), "PO", 3, state);
+ auto F4 = P->emplaceFrame(TimeStamp(4), "PO", 3, state);
P->keyFrameCallback(F4, nullptr, 0);
// absolute factor
@@ -246,7 +246,7 @@ TEST(TreeManagerSlidingWindowDualRate, slidingWindowFixViral)
* Sliding window:
* ( ) (F1) (F3)(F4)(F5)
*/
- auto F5 = P->emplaceKeyFrame(TimeStamp(5), "PO", 3, state);
+ auto F5 = P->emplaceFrame(TimeStamp(5), "PO", 3, state);
P->keyFrameCallback(F5, nullptr, 0);
// absolute factor
@@ -306,7 +306,7 @@ TEST(TreeManagerSlidingWindowDualRate, slidingWindowFixViral)
* Sliding window:
* (F1) (F3)(F4)(F5)(F6)
*/
- auto F6 = P->emplaceKeyFrame(TimeStamp(6), "PO", 3, state);
+ auto F6 = P->emplaceFrame(TimeStamp(6), "PO", 3, state);
P->keyFrameCallback(F6, nullptr, 0);
// absolute factor
@@ -375,7 +375,7 @@ TEST(TreeManagerSlidingWindowDualRate, slidingWindowFixViral)
* Sliding window:
* (F1) (F3) (F5)(F6)(F7)
*/
- auto F7 = P->emplaceKeyFrame(TimeStamp(7), "PO", 3, state);
+ auto F7 = P->emplaceFrame(TimeStamp(7), "PO", 3, state);
P->keyFrameCallback(F7, nullptr, 0);
// absolute factor
@@ -452,7 +452,7 @@ TEST(TreeManagerSlidingWindowDualRate, slidingWindowFixViral)
* Sliding window:
* (F3) (F5)(F6)(F7)(F8)
*/
- auto F8 = P->emplaceKeyFrame(TimeStamp(8), "PO", 3, state);
+ auto F8 = P->emplaceFrame(TimeStamp(8), "PO", 3, state);
P->keyFrameCallback(F8, nullptr, 0);
// absolute factor
@@ -578,7 +578,7 @@ TEST(TreeManagerSlidingWindowDualRate, slidingWindowNoFixNoViral)
* Sliding window:
* ( ) ( ) ( )(F1)(F2)
*/
- auto F2 = P->emplaceKeyFrame(TimeStamp(2), "PO", 3, state);
+ auto F2 = P->emplaceFrame(TimeStamp(2), "PO", 3, state);
P->keyFrameCallback(F2, nullptr, 0);
// absolute factor
@@ -612,7 +612,7 @@ TEST(TreeManagerSlidingWindowDualRate, slidingWindowNoFixNoViral)
* Sliding window:
* ( ) ( ) (F1)(F2)(F3)
*/
- auto F3 = P->emplaceKeyFrame(TimeStamp(3), "PO", 3, state);
+ auto F3 = P->emplaceFrame(TimeStamp(3), "PO", 3, state);
P->keyFrameCallback(F3, nullptr, 0);
// absolute factor
@@ -655,7 +655,7 @@ TEST(TreeManagerSlidingWindowDualRate, slidingWindowNoFixNoViral)
* Sliding window:
* ( ) (F1)(F2)(F3)(F4)
*/
- auto F4 = P->emplaceKeyFrame(TimeStamp(4), "PO", 3, state);
+ auto F4 = P->emplaceFrame(TimeStamp(4), "PO", 3, state);
P->keyFrameCallback(F4, nullptr, 0);
// absolute factor
@@ -707,7 +707,7 @@ TEST(TreeManagerSlidingWindowDualRate, slidingWindowNoFixNoViral)
* Sliding window:
* ( ) (F1) (F3)(F4)(F5)
*/
- auto F5 = P->emplaceKeyFrame(TimeStamp(5), "PO", 3, state);
+ auto F5 = P->emplaceFrame(TimeStamp(5), "PO", 3, state);
P->keyFrameCallback(F5, nullptr, 0);
// absolute factor
@@ -767,7 +767,7 @@ TEST(TreeManagerSlidingWindowDualRate, slidingWindowNoFixNoViral)
* Sliding window:
* (F1) (F3)(F4)(F5)(F6)
*/
- auto F6 = P->emplaceKeyFrame(TimeStamp(6), "PO", 3, state);
+ auto F6 = P->emplaceFrame(TimeStamp(6), "PO", 3, state);
P->keyFrameCallback(F6, nullptr, 0);
// absolute factor
@@ -836,7 +836,7 @@ TEST(TreeManagerSlidingWindowDualRate, slidingWindowNoFixNoViral)
* Sliding window:
* (F1) (F3) (F5)(F6)(F7)
*/
- auto F7 = P->emplaceKeyFrame(TimeStamp(7), "PO", 3, state);
+ auto F7 = P->emplaceFrame(TimeStamp(7), "PO", 3, state);
P->keyFrameCallback(F7, nullptr, 0);
// absolute factor
@@ -913,7 +913,7 @@ TEST(TreeManagerSlidingWindowDualRate, slidingWindowNoFixNoViral)
* Sliding window:
* (F3) (F5)(F6)(F7)(F8)
*/
- auto F8 = P->emplaceKeyFrame(TimeStamp(8), "PO", 3, state);
+ auto F8 = P->emplaceFrame(TimeStamp(8), "PO", 3, state);
P->keyFrameCallback(F8, nullptr, 0);
// absolute factor